import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node


def generate_launch_description():

    robot_ctrl = Node(
        package="chassis_control_mi9",
        executable="CascadePIDCtrl",
        name="robot_control_cascadePID_mi9",
        parameters=[{"AngleP": 10.0, "AngleI": 0.0, "AngleD": 0.0}],
    )

    return LaunchDescription([robot_ctrl])
